EP 3890640 A1 20211013 - METHOD OF CONTROLLING CABLE DRIVEN END EFFECTORS
Title (en)
METHOD OF CONTROLLING CABLE DRIVEN END EFFECTORS
Title (de)
VERFAHREN ZUR STEUERUNG VON KABELBETRIEBENEN ENDEFFEKTOREN
Title (fr)
PROCÉDÉ DE COMMANDE D'EFFECTEURS TERMINAUX ENTRAÎNÉS PAR CÂBLE
Publication
Application
Priority
- US 201862776285 P 20181206
- US 2019064867 W 20191206
Abstract (en)
[origin: WO2020118149A1] A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.
IPC 8 full level
A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC (source: EP US)
A61B 34/00 (2016.02 - EP); A61B 34/30 (2016.02 - EP US); A61B 34/37 (2016.02 - EP); A61B 34/71 (2016.02 - EP US); A61B 34/37 (2016.02 - US); A61B 2017/00477 (2013.01 - EP); A61B 2034/305 (2016.02 - EP); A61B 2034/715 (2016.02 - US); A61B 2090/066 (2016.02 - EP)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
WO 2020118149 A1 20200611; AU 2019395013 A1 20210422; CA 3121914 A1 20200611; CN 113164204 A 20210723; CN 113164204 B 20231107; EP 3890640 A1 20211013; EP 3890640 A4 20220907; JP 2022510406 A 20220126; US 2022071726 A1 20220310
DOCDB simple family (application)
US 2019064867 W 20191206; AU 2019395013 A 20191206; CA 3121914 A 20191206; CN 201980076907 A 20191206; EP 19893032 A 20191206; JP 2021531712 A 20191206; US 201917299869 A 20191206